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<div class="title">rigid_transform_space.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"> * rigid_transform_space.h</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment"> *  Created on: Feb 15, 2013</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment"> *      Author: papazov</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_RIGID_TRANSFORM_SPACE_H_</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_RIGID_TRANSFORM_SPACE_H_</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &quot;simple_octree.h&quot;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &quot;model_library.h&quot;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">namespace </span>recognition</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_rotation_space_cell.html">   59</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell.html">RotationSpaceCell</a></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_rotation_space_cell_1_1_entry.html">   62</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell_1_1_entry.html">Entry</a></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell_1_1_entry.html">Entry</a> ()</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;            : num_transforms_ (0)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;            {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;              aux::set3 (axis_angle_, 0.0f);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;              aux::set3 (translation_, 0.0f);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;            }</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell_1_1_entry.html">Entry</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell_1_1_entry.html">Entry</a>&amp; src)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;            : num_transforms_ (src.num_transforms_)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;            {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;              aux::copy3 (src.axis_angle_, this-&gt;axis_angle_);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;              aux::copy3 (src.translation_, this-&gt;translation_);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;            }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell_1_1_entry.html">Entry</a>&amp; operator = (<span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell_1_1_entry.html">Entry</a>&amp; src)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;            {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;              num_transforms_ = src.num_transforms_;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;              aux::copy3 (src.axis_angle_, this-&gt;axis_angle_);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;              aux::copy3 (src.translation_, this-&gt;translation_);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;              <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;            }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell_1_1_entry.html">Entry</a>&amp;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;            addRigidTransform (<span class="keyword">const</span> <span class="keywordtype">float</span> axis_angle[3], <span class="keyword">const</span> <span class="keywordtype">float</span> translation[3])</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;            {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;              aux::add3 (this-&gt;axis_angle_, axis_angle);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;              aux::add3 (this-&gt;translation_, translation);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;              ++num_transforms_;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;              <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            computeAverageRigidTransform (<span class="keywordtype">float</span> *rigid_transform = NULL)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;              <span class="keywordflow">if</span> ( num_transforms_ &gt;= 2 )</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;              {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                <span class="keywordtype">float</span> factor = 1.0f/<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (num_transforms_);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                aux::mult3 (axis_angle_, factor);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                aux::mult3 (translation_, factor);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                num_transforms_ = 1;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;              }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;              <span class="keywordflow">if</span> ( rigid_transform )</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;              {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                <span class="comment">// Save the rotation (in matrix form)</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                aux::axisAngleToRotationMatrix (axis_angle_, rigid_transform);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                <span class="comment">// Save the translation</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                aux::copy3 (translation_, rigid_transform + 9);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;              }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;            }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;            <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;            getAxisAngle ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;              <span class="keywordflow">return</span> (axis_angle_);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            getTranslation ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;              <span class="keywordflow">return</span> (translation_);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;            }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;            getNumberOfTransforms ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;              <span class="keywordflow">return</span> (num_transforms_);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;            }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            <span class="keywordtype">float</span> axis_angle_[3], translation_[3];</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            <span class="keywordtype">int</span> num_transforms_;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        };<span class="comment">// class Entry</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell.html">RotationSpaceCell</a> (){}</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell.html">RotationSpaceCell</a> ()</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        {</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;          model_to_entry_.clear ();</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keyword">inline</span> std::map&lt;const ModelLibrary::Model*,Entry&gt;&amp;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        getEntries ()</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          <span class="keywordflow">return</span> (model_to_entry_);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> RotationSpaceCell::Entry*</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        getEntry (<span class="keyword">const</span> ModelLibrary::Model* model)<span class="keyword"> const</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          std::map&lt;const ModelLibrary::Model*, Entry&gt;::const_iterator res = model_to_entry_.find (model);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          <span class="keywordflow">if</span> ( res != model_to_entry_.end () )</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;            <span class="keywordflow">return</span> (&amp;res-&gt;second);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          <span class="keywordflow">return</span> (NULL);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> RotationSpaceCell::Entry&amp;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        addRigidTransform (<span class="keyword">const</span> ModelLibrary::Model* model, <span class="keyword">const</span> <span class="keywordtype">float</span> axis_angle[3], <span class="keyword">const</span> <span class="keywordtype">float</span> translation[3])</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          <span class="keywordflow">return</span> model_to_entry_[model].addRigidTransform (axis_angle, translation);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        std::map&lt;const ModelLibrary::Model*,Entry&gt; model_to_entry_;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    }; <span class="comment">// class RotationSpaceCell</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_rotation_space_cell_creator.html">  175</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell_creator.html">RotationSpaceCellCreator</a></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell_creator.html">RotationSpaceCellCreator</a> (){}</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell_creator.html">RotationSpaceCellCreator</a> (){}</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell.html">RotationSpaceCell</a>* create (<span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_simple_octree.html">SimpleOctree&lt;RotationSpaceCell, RotationSpaceCellCreator, float&gt;::Node</a>* )</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">new</span> <a class="code" href="classpcl_1_1recognition_1_1_rotation_space_cell.html">RotationSpaceCell</a> ());</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    };</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1recognition_1_1_simple_octree.html">SimpleOctree&lt;RotationSpaceCell, RotationSpaceCellCreator, float&gt;</a> <a class="code" href="classpcl_1_1recognition_1_1_simple_octree.html">CellOctree</a>;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_rotation_space.html">  195</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1recognition_1_1_rotation_space.html">RotationSpace</a></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_rotation_space.html#ad897c688e8b72fc3a212e382112f7b0b">  200</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_rotation_space.html#ad897c688e8b72fc3a212e382112f7b0b">RotationSpace</a> (<span class="keywordtype">float</span> discretization)</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          <span class="keywordtype">float</span> min = -(AUX_PI_FLOAT + 0.000000001f), max = AUX_PI_FLOAT + 0.000000001f;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;          <span class="keywordtype">float</span> bounds[6] = {min, max, min, max, min, max};</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          <span class="comment">// Build the voxel structure</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          octree_.build (bounds, discretization, &amp;cell_creator_);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_rotation_space.html">RotationSpace</a> ()</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          octree_.clear ();</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        }</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        setCenter (<span class="keyword">const</span> <span class="keywordtype">float</span>* c)</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;          center_[0] = c[0];</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          center_[1] = c[1];</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          center_[2] = c[2];</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        getCenter ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> center_;}</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        getTransformWithMostVotes (<span class="keyword">const</span> ModelLibrary::Model* model, <span class="keywordtype">float</span> rigid_transform[12])<span class="keyword"> const</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;          RotationSpaceCell::Entry with_most_votes;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;          <span class="keyword">const</span> std::vector&lt;CellOctree::Node*&gt;&amp; full_leaves = octree_.getFullLeaves ();</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;          <span class="keywordtype">int</span> max_num_transforms = 0;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;          <span class="comment">// For each full leaf</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;          <span class="keywordflow">for</span> ( std::vector&lt;CellOctree::Node*&gt;::const_iterator leaf = full_leaves.begin () ; leaf != full_leaves.end () ; ++leaf )</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;          {</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;            <span class="comment">// Is there an entry for &#39;model&#39; in the current cell</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;            <span class="keyword">const</span> RotationSpaceCell::Entry *entry = (*leaf)-&gt;getData ().getEntry (model);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;            <span class="keywordflow">if</span> ( !entry )</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;              <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;            <span class="keywordtype">int</span> num_transforms = entry-&gt;getNumberOfTransforms ();</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;            <span class="keyword">const</span> std::set&lt;CellOctree::Node*&gt;&amp; neighs = (*leaf)-&gt;getNeighbors ();</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;            <span class="comment">// For each neighbor</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;            <span class="keywordflow">for</span> ( std::set&lt;CellOctree::Node*&gt;::const_iterator neigh = neighs.begin () ; neigh != neighs.end () ; ++neigh )</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;            {</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;              <span class="keyword">const</span> RotationSpaceCell::Entry *neigh_entry = (*neigh)-&gt;getData ().getEntry (model);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;              <span class="keywordflow">if</span> ( !neigh_entry )</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;                <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;              num_transforms += neigh_entry-&gt;getNumberOfTransforms ();</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;            }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;            <span class="keywordflow">if</span> ( num_transforms &gt; max_num_transforms )</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;            {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;              with_most_votes = *entry;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;              max_num_transforms = num_transforms;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;            }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;          }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;          <span class="keywordflow">if</span> ( !max_num_transforms )</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;          with_most_votes.computeAverageRigidTransform (rigid_transform);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        addRigidTransform (<span class="keyword">const</span> ModelLibrary::Model* model, <span class="keyword">const</span> <span class="keywordtype">float</span> axis_angle[3], <span class="keyword">const</span> <span class="keywordtype">float</span> translation[3])</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        {</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;          CellOctree::Node* cell = octree_.createLeaf (axis_angle[0], axis_angle[1], axis_angle[2]);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;          <span class="keywordflow">if</span> ( !cell )</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;          {</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> *b = octree_.getBounds ();</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;            printf (<span class="stringliteral">&quot;WARNING in &#39;RotationSpace::%s()&#39;: the provided axis-angle input (%f, %f, %f) is &quot;</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;                    <span class="stringliteral">&quot;out of the rotation space bounds ([%f, %f], [%f, %f], [%f, %f]).\n&quot;</span>,</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;                    __func__, axis_angle[0], axis_angle[1], axis_angle[2], b[0], b[1], b[2], b[3], b[4], b[5]);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;            <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;          }</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;          <span class="comment">// Add the rigid transform to the cell</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;          cell-&gt;getData ().addRigidTransform (model, axis_angle, translation);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        CellOctree octree_;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        RotationSpaceCellCreator cell_creator_;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="keywordtype">float</span> center_[3];</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    };<span class="comment">// class RotationSpace</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_rotation_space_creator.html">  294</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_rotation_space_creator.html">RotationSpaceCreator</a></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    {</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_rotation_space_creator.html">RotationSpaceCreator</a>()</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        : counter_ (0)</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        {}</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_rotation_space_creator.html">RotationSpaceCreator</a>(){}</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_rotation_space.html">RotationSpace</a>* create(<span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_simple_octree.html">SimpleOctree&lt;RotationSpace, RotationSpaceCreator, float&gt;::Node</a>* leaf)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        {</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;          <a class="code" href="classpcl_1_1recognition_1_1_rotation_space.html">RotationSpace</a> *rot_space = <span class="keyword">new</span> <a class="code" href="classpcl_1_1recognition_1_1_rotation_space.html">RotationSpace</a> (discretization_);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;          rot_space-&gt;setCenter (leaf-&gt;getCenter ());</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;          rotation_spaces_.push_back (rot_space);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;          ++counter_;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;          <span class="keywordflow">return</span> (rot_space);</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        }</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        setDiscretization (<span class="keywordtype">float</span> value){ discretization_ = value;}</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        getNumberOfRotationSpaces ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (counter_);}</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        <span class="keyword">const</span> std::list&lt;RotationSpace*&gt;&amp;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        getRotationSpaces ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (rotation_spaces_);}</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        std::list&lt;RotationSpace*&gt;&amp;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        getRotationSpaces (){ <span class="keywordflow">return</span> (rotation_spaces_);}</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        reset ()</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        {</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;          counter_ = 0;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;          rotation_spaces_.clear ();</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        }</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        <span class="keywordtype">float</span> discretization_;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        <span class="keywordtype">int</span> counter_;</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        std::list&lt;RotationSpace*&gt; rotation_spaces_;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    };</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1recognition_1_1_simple_octree.html">SimpleOctree&lt;RotationSpace, RotationSpaceCreator, float&gt;</a> <a class="code" href="classpcl_1_1recognition_1_1_simple_octree.html">RotationSpaceOctree</a>;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_rigid_transform_space.html">  341</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1recognition_1_1_rigid_transform_space.html">RigidTransformSpace</a></div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    {</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_rigid_transform_space.html">RigidTransformSpace</a> (){}</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_rigid_transform_space.html">RigidTransformSpace</a> (){ this-&gt;clear ();}</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        build (<span class="keyword">const</span> <span class="keywordtype">float</span>* pos_bounds, <span class="keywordtype">float</span> translation_cell_size, <span class="keywordtype">float</span> rotation_cell_size)</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        {</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;          this-&gt;clear ();</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;          rotation_space_creator_.setDiscretization (rotation_cell_size);</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;          pos_octree_.build (pos_bounds, translation_cell_size, &amp;rotation_space_creator_);</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        }</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        clear ()</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        {</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;          pos_octree_.clear ();</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;          rotation_space_creator_.reset ();</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        }</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        <span class="keyword">inline</span> std::list&lt;RotationSpace*&gt;&amp;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        getRotationSpaces ()</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        {</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;          <span class="keywordflow">return</span> (rotation_space_creator_.getRotationSpaces ());</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        }</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> std::list&lt;RotationSpace*&gt;&amp;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        getRotationSpaces ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;          <span class="keywordflow">return</span> (rotation_space_creator_.getRotationSpaces ());</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        }</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        getNumberOfOccupiedRotationSpaces ()</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        {</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;          <span class="keywordflow">return</span> (rotation_space_creator_.getNumberOfRotationSpaces ());</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        }</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        addRigidTransform (<span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_model_library_1_1_model.html">ModelLibrary::Model</a>* model, <span class="keyword">const</span> <span class="keywordtype">float</span> position[3], <span class="keyword">const</span> <span class="keywordtype">float</span> rigid_transform[12])</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        {</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;          <span class="comment">// Get the leaf &#39;position&#39; ends up in</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;          RotationSpaceOctree::Node* leaf = pos_octree_.createLeaf (position[0], position[1], position[2]);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;          <span class="keywordflow">if</span> ( !leaf )</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;          {</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;            printf (<span class="stringliteral">&quot;WARNING in &#39;RigidTransformSpace::%s()&#39;: the input position (%f, %f, %f) is out of bounds.\n&quot;</span>,</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;                    __func__, position[0], position[1], position[2]);</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;            <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;          }</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;          <span class="keywordtype">float</span> rot_angle, axis_angle[3];</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;          <span class="comment">// Extract the axis-angle representation from the rotation matrix</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;          aux::rotationMatrixToAxisAngle (rigid_transform, axis_angle, rot_angle);</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;          <span class="comment">// Multiply the axis by the angle to get the final representation</span></div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;          aux::mult3 (axis_angle, rot_angle);</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;          <span class="comment">// Now, add the rigid transform to the rotation space</span></div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;          leaf-&gt;getData ().addRigidTransform (model, axis_angle, rigid_transform + 9);</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;        }</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_simple_octree.html">RotationSpaceOctree</a> pos_octree_;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_rotation_space_creator.html">RotationSpaceCreator</a> rotation_space_creator_;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    }; <span class="comment">// class RigidTransformSpace</span></div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  } <span class="comment">// namespace recognition</span></div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;} <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_RECOGNITION_RIGID_TRANSFORM_SPACE_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_model_library_1_1_model_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_model_library_1_1_model.html">pcl::recognition::ModelLibrary::Model</a></div><div class="ttdoc">Stores some information about the model.</div><div class="ttdef"><b>Definition:</b> model_library.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_rigid_transform_space_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_rigid_transform_space.html">pcl::recognition::RigidTransformSpace</a></div><div class="ttdef"><b>Definition:</b> rigid_transform_space.h:342</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_rotation_space_cell_1_1_entry_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_rotation_space_cell_1_1_entry.html">pcl::recognition::RotationSpaceCell::Entry</a></div><div class="ttdef"><b>Definition:</b> rigid_transform_space.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_rotation_space_cell_creator_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_rotation_space_cell_creator.html">pcl::recognition::RotationSpaceCellCreator</a></div><div class="ttdef"><b>Definition:</b> rigid_transform_space.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_rotation_space_cell_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_rotation_space_cell.html">pcl::recognition::RotationSpaceCell</a></div><div class="ttdef"><b>Definition:</b> rigid_transform_space.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_rotation_space_creator_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_rotation_space_creator.html">pcl::recognition::RotationSpaceCreator</a></div><div class="ttdef"><b>Definition:</b> rigid_transform_space.h:295</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_rotation_space_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_rotation_space.html">pcl::recognition::RotationSpace</a></div><div class="ttdoc">This is a class for a discrete representation of the rotation space based on the axis-angle represent...</div><div class="ttdef"><b>Definition:</b> rigid_transform_space.h:196</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_rotation_space_html_ad897c688e8b72fc3a212e382112f7b0b"><div class="ttname"><a href="classpcl_1_1recognition_1_1_rotation_space.html#ad897c688e8b72fc3a212e382112f7b0b">pcl::recognition::RotationSpace::RotationSpace</a></div><div class="ttdeci">RotationSpace(float discretization)</div><div class="ttdoc">We use the axis-angle representation for rotations. The axis is encoded in the vector and the angle i...</div><div class="ttdef"><b>Definition:</b> rigid_transform_space.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_simple_octree_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_simple_octree.html">pcl::recognition::SimpleOctree</a></div><div class="ttdef"><b>Definition:</b> simple_octree.h:58</div></div>
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